Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	onUpdateParameters (void)

void	onResourceInitialization (void)

bool	consumeResult (Results value)

void	addResult (Results value)

void	setAndSendState (EntityStates state)

void	onEntityResolution (void)

void	handleConfigParam (NMEAReader *const stn)

void	handleMiniPacket (NMEAReader *const stn)

void	handleTransponderTravelTimes (NMEAReader *const stn)

void	handlePingReply (NMEAReader *const stn)

void	processInput (double timeout=c_cmd_reply_tout)

void	handleBinaryMessage (NMEAReader *const stn)

void	ping (void)

void	pingMicroModem (unsigned index)

void	pingNarrowBand (void)

void	fullAcousticReport (void)

void	consume (const IMC::LblConfig *msg)

void	consume (const IMC::SoundSpeed *msg)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::VehicleMedium *msg)

void	consume (const IMC::PlanControlState *msg)

void	consume (const IMC::FuelLevel *msg)

void	consume (const IMC::ReportControl *msg)

void	consume (const IMC::Salinity *msg)

void	reportRanges (double now)

void	configureModem (const std::string &code, const std::string &parameter, const unsigned value)

void	sendDelayedCommand (const std::string &cmd, double delay_bef, double delay_aft)

void	sendCommand (const std::string &cmd)

void	logCommand (const std::string &cmd)

void	onMain (void)

Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)

virtual	~Task (void)

const char *	getName (void) const

const char *	getSystemName (void) const

unsigned int	getSystemId (void) const

unsigned int	getEntityId (void) const

unsigned int	resolveEntity (const std::string &label) const

std::string	resolveEntity (unsigned int id) const

DebugLevel	getDebugLevel (void) const

uint16_t	getActivationTime (void) const

uint16_t	getDeactivationTime (void) const

unsigned int	resolveSystemName (const std::string &name) const

const char *	resolveSystemId (unsigned int id) const

void	loadConfig (void)

void	setPriority (unsigned int value)

unsigned int	getPriority (void) const

void	inf (const char *format,...) DUNE_PRINTF_FORMAT(2

void void	war (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void	err (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void	cri (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void	debug (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void	trace (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void	spew (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void void	dispatch (IMC::Message *msg, unsigned int flags=0)

void	dispatch (IMC::Message &msg, unsigned int flags=0)

void	dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)

void	receive (const IMC::Message *msg)

void	reserveEntities (void)

void	resolveEntities (void)

void	acquireResources (void)

void	releaseResources (void)

void	initializeResources (void)

void	updateParameters (bool act_deact=true)

void	writeParamsXML (std::ostream &os) const

const char *	getEntityLabel (void) const

void	setEntityLabel (const std::string &label)

Public Member Functions inherited from DUNE::Tasks::AbstractTask
	AbstractTask (void)

virtual	~AbstractTask (void)

Public Member Functions inherited from DUNE::Concurrency::Thread
	Thread (void)

virtual	~Thread (void)

int	getProcessorUsage (void)

Public Member Functions inherited from DUNE::Concurrency::Runnable
	Runnable (void)

virtual	~Runnable (void)

void	start (void)

void	stop (void)

void	join (void)

void	stopAndJoin (void)

void	setPriority (Scheduler::Policy policy, unsigned priority)

unsigned	getPriority (void)

State	getState (void)

bool	isCreated (void)

bool	isStopping (void)

bool	isRunning (void)

bool	isStarting (void)

bool	isDead (void)

Public Attributes
LBL	m_lbl

IMC::LblConfig	m_lbl_config

NarrowBandMap	m_nbmap

MicroModemSystemsMap	m_smap

MicroModemAddressMap	m_amap

SerialPort *	m_uart

IMC::EntityState	m_states [STA_MAX]

char	m_bfr [c_bfr_size]

Arguments	m_args

EntityStates	m_state

unsigned	m_addr

unsigned	m_result

double	m_last_input

double	m_sound_speed

int	m_sound_speed_eid

IMC::EstimatedState	m_estate

bool	m_stop_comms

int8_t	m_progress

float	m_fuel_level

float	m_fuel_conf

Time::Counter< float >	m_pinger

Supervisors::Reporter::Client *	m_reporter

IMC::Salinity *	m_salinity

Static Public Attributes
static const int	c_bfr_size

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown }

Protected Member Functions inherited from DUNE::Tasks::Task
void	setEntityState (IMC::EntityState::StateEnum state, Status::Code code)

void	setEntityState (IMC::EntityState::StateEnum state, const std::string &description)

IMC::EntityState::StateEnum	getEntityState (void) const

unsigned int	reserveEntity (const std::string &label)

template<typename E >
E *	reserveEntity (const std::string &label)

Entities::BasicEntity *	getLocalEntity (const std::string &label)

bool	stopping (void)

bool	isActive (void) const

bool	isActivating (void) const

bool	isDeactivating (void) const

void	waitForMessages (double timeout)

void	consumeMessages (void)

template<typename T >
Parameter &	param (const std::string &name, T &var)

template<typename Y , typename T >
Parameter &	param (const std::string &name, T &var)

template<typename T >
bool	paramChanged (T &var)

void	paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)

void	setParamSectionEditor (const std::string &name)

template<typename M , typename T >
void	bind (T task_obj, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< uint32_t > &list)

template<typename T , typename M >
void	bind (T task_obj, const std::vector< uint32_t > &list, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< std::string > &list)

void	requestActivation (void)

void	requestDeactivation (void)

void	activate (void)

void	activationFailed (const std::string &reason)

void	deactivate (void)

void	deactivationFailed (const std::string &reason)

virtual bool	onWriteParamsXML (std::ostream &os) const

virtual void	onEntityReservation (void)

virtual void	onReportEntityState (void)

virtual void	onRequestActivation (void)

virtual void	onRequestDeactivation (void)

virtual void	onActivation (void)

virtual void	onDeactivation (void)

virtual void	onQueryEntityParameters (const IMC::QueryEntityParameters *msg)

virtual void	onSetEntityParameters (const IMC::SetEntityParameters *msg)

virtual void	onPushEntityParameters (const IMC::PushEntityParameters *msg)

virtual void	onPopEntityParameters (const IMC::PopEntityParameters *msg)

Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)

void	stopImpl (void)

void	joinImpl (void)

void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)

unsigned	getPriorityImpl (void)

Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx

std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Sensors::MLBL::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Member Function Documentation

void Sensors::MLBL::Task::addResult ( Results value )

inline

References m_result.

Referenced by handleConfigParam(), handleTransponderTravelTimes(), and processInput().

void Sensors::MLBL::Task::configureModem	(	const std::string &	code,
		const std::string &	parameter,
		const unsigned	value
	)

inline

Configure a modem parameter.

Parameters

[in]	code	NMEA code of the message to be transmitted.
[in]	parameter	modem parameter to be configured.
[in]	value	new configuration value.

References processInput(), and sendCommand().

Referenced by onResourceInitialization().

void Sensors::MLBL::Task::consume ( const IMC::LblConfig * msg )

inline

void Sensors::MLBL::Task::consume ( const IMC::SoundSpeed * msg )

inline

References m_sound_speed, and m_sound_speed_eid.

void Sensors::MLBL::Task::consume ( const IMC::EstimatedState * msg )

inline

References DUNE::Tasks::Task::getSystemId(), and m_estate.

void Sensors::MLBL::Task::consume ( const IMC::VehicleMedium * msg )

inline

References m_args, m_stop_comms, and Sensors::MLBL::Arguments::only_underwater.

void Sensors::MLBL::Task::consume ( const IMC::PlanControlState * msg )

inline

References m_progress.

void Sensors::MLBL::Task::consume ( const IMC::FuelLevel * msg )

inline

References m_fuel_conf, and m_fuel_level.

void Sensors::MLBL::Task::consume ( const IMC::ReportControl * msg )

inline

References Supervisors::Reporter::Client::consume(), and m_reporter.

void Sensors::MLBL::Task::consume ( const IMC::Salinity * msg )

inline

References m_salinity.

bool Sensors::MLBL::Task::consumeResult ( Results value )

inline

References m_result.

Referenced by handleBinaryMessage(), handleMiniPacket(), onResourceInitialization(), pingNarrowBand(), and reportRanges().

void Sensors::MLBL::Task::fullAcousticReport ( void )

inline

References Supervisors::Reporter::Client::ack(), DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::dispatch(), Sensors::MLBL::Arguments::good_range_age, m_addr, m_args, m_estate, m_fuel_conf, m_fuel_level, m_lbl, m_progress, m_reporter, m_salinity, sendCommand(), and Sensors::MLBL::LBL::size().

Referenced by onMain().

void Sensors::MLBL::Task::handleBinaryMessage ( NMEAReader *const stn )

inline

References consume(), consumeResult(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_addr, m_amap, m_args, Sensors::MLBL::Arguments::mpk_delay_aft, Sensors::MLBL::Arguments::mpk_delay_bef, pingMicroModem(), Sensors::MLBL::RS_MPK_ACKD, Sensors::MLBL::RS_MPK_SENT, Sensors::MLBL::RS_MPK_STAR, sendDelayedCommand(), and DUNE::Tasks::Task::war().

Referenced by processInput().

void Sensors::MLBL::Task::handleConfigParam ( NMEAReader *const stn )

inline

References addResult(), m_addr, m_args, Sensors::MLBL::RS_CTO_ACKD, Sensors::MLBL::RS_NRV_ACKD, Sensors::MLBL::RS_SRC_ACKD, Sensors::MLBL::RS_TAT_ACKD, Sensors::MLBL::RS_XST_ACKD, and Sensors::MLBL::Arguments::turn_around_time.

Referenced by processInput().

void Sensors::MLBL::Task::handleMiniPacket ( NMEAReader *const stn )

inline

References consumeResult(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::inf(), m_addr, m_args, Sensors::MLBL::Arguments::mpk_delay_aft, Sensors::MLBL::Arguments::mpk_delay_bef, Sensors::MLBL::RS_MPK_ACKD, Sensors::MLBL::RS_MPK_SENT, Sensors::MLBL::RS_MPK_STAR, sendDelayedCommand(), and DUNE::Tasks::Task::war().

Referenced by processInput().

void Sensors::MLBL::Task::handlePingReply ( NMEAReader *const stn )

inline

References DUNE::Tasks::Task::dispatch(), m_addr, m_amap, m_lbl, m_sound_speed, Sensors::MLBL::LBL::size(), and DUNE::Tasks::Task::war().

Referenced by processInput().

void Sensors::MLBL::Task::handleTransponderTravelTimes ( NMEAReader *const stn )

inline

References addResult(), Sensors::MLBL::BT_TRANSPONDER, DUNE::Tasks::Task::dispatch(), m_lbl, m_sound_speed, Sensors::MLBL::RS_PNG_TIME, Sensors::MLBL::LBL::size(), and DUNE::Tasks::Task::war().

Referenced by processInput().

void Sensors::MLBL::Task::logCommand ( const std::string & cmd )

inline

Log NMEA message.

Parameters

[in] cmd NMEA message to be logged.

References DUNE::Tasks::Task::dispatch().

Referenced by sendCommand().

void Sensors::MLBL::Task::onEntityResolution ( void )

inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), m_args, m_sound_speed, m_sound_speed_eid, DUNE::Tasks::Task::resolveEntity(), Sensors::MLBL::Arguments::sound_speed_def, and Sensors::MLBL::Arguments::sound_speed_elabel.

void Sensors::MLBL::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References Sensors::MLBL::LBL::empty(), fullAcousticReport(), DUNE::Tasks::Task::isActive(), m_args, m_last_input, m_lbl, m_pinger, m_reporter, m_stop_comms, ping(), processInput(), Sensors::MLBL::Arguments::report, reportRanges(), setAndSendState(), Sensors::MLBL::STA_ERR_COM, DUNE::Tasks::Task::stopping(), Supervisors::Reporter::Client::trigger(), and DUNE::Tasks::Task::waitForMessages().

void Sensors::MLBL::Task::onResourceAcquisition ( void )

inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References Supervisors::Reporter::IS_ACOUSTIC, m_args, m_reporter, m_uart, setAndSendState(), Sensors::MLBL::STA_BOOT, Sensors::MLBL::Arguments::uart_baud, and Sensors::MLBL::Arguments::uart_dev.

void Sensors::MLBL::Task::onResourceInitialization ( void )

inlinevirtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References Sensors::MLBL::Arguments::addr_section, DUNE::Tasks::Context::config, configureModem(), consumeResult(), Sensors::MLBL::LBL::empty(), DUNE::Parsers::Config::get(), DUNE::Tasks::Task::getSystemName(), m_addr, m_amap, m_args, DUNE::Tasks::Task::m_ctx, m_lbl, m_smap, m_state, m_states, DUNE::Parsers::Config::options(), Sensors::MLBL::RS_CTO_ACKD, Sensors::MLBL::RS_NRV_ACKD, Sensors::MLBL::RS_SRC_ACKD, Sensors::MLBL::RS_TAT_ACKD, Sensors::MLBL::RS_XST_ACKD, setAndSendState(), Sensors::MLBL::STA_ERR_SRC, Sensors::MLBL::STA_ERR_STP, Sensors::MLBL::STA_IDLE, Sensors::MLBL::STA_NO_BEACONS, and Sensors::MLBL::Arguments::turn_around_time.

void Sensors::MLBL::Task::onResourceRelease ( void )

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

References m_reporter, and m_uart.

void Sensors::MLBL::Task::onUpdateParameters ( void )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_pinger, m_sound_speed, DUNE::Tasks::Task::paramChanged(), Sensors::MLBL::Arguments::ping_period, and Sensors::MLBL::Arguments::sound_speed_def.